HUMANOID LOW-LEVEL CONTROLLER DEVELOPMENT BASED ON A REALISTIC SIMULATION

• Type: Article in International Scientific Journal
• Date: 2010

Authors

José L. Lima (Author) Other; José C. Gonçalves (Author) Other; Paulo G. Costa (Author) FEUP; A. Paulo Moreira (Author) FEUP

Journal

Title: International Journal of Humanoid Robotics

Vol. 7 No. 4

Pages: 587-607

ISSN: 0219-8436

Publisher: World Scientific

Indexing

ISI Web of Knowledge - 2 Citations

ISI Web of Science

Scopus - 2 Citations

INSPEC

COMPENDEX

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-003-06K

DOI: 10.1142/s0219843610002131

Abstract (EN): This article describes a joint trajectory optimized controller developed in a humanoid robot simulator following the real robot characteristics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfill this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback. The proposed simulator, with realistic dynamics, allows to design and test behaviors and control strategies without access to the real hardware in order to carry out research on robot control without damaging the real robot. The low-level joints controller techniques, such as acceleration, speed, and energy consumption minimization, are discussed and experimental results are presented in order to validate the proposed simulator.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 21